/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "dial.h"
#include "M3508.h"
#include "dbus.h"
#include "rm_motor.h"
#include "bsp_tim.h"
#include "bsp_can.h"
#include "bsp_exti.h"
#include "bmi088.h"
#include "omni_wheel.h"
#include "omni_wheel_cal.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

extern DJI_Motor_ControlTypeDef M2006_Motor;
extern DJI_Motor_ControlTypeDef M3508_Motor;
extern DJI_Motor_ControlTypeDef M6020_Motor;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern float exp_speed;	
extern float x;
extern int bmi088_flag;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN1_Init();
  MX_TIM2_Init();
  MX_USART3_UART_Init();
  MX_USART1_UART_Init();
  MX_TIM3_Init();
  MX_CAN2_Init();
  MX_SPI1_Init();
  MX_USART6_UART_Init();
  /* USER CODE BEGIN 2 */
  
  bmi088_init(&bmi088_data, &hspi1, GPIOA, GPIO_PIN_4, GPIOB, GPIO_PIN_0);
  bmi088_range_set(&bmi088_data, BMI088_ACC_RANGE_24, BMI088_GYRO_RANGE_125);
  bmi088_temp_set(&bmi088_data, 45);
  HAL_Delay(10);
  bmi088_flag=1;
  motor_ctrl_init(&M3508_Motor,DJI_M3508,&hcan2,LOW);
  bsp_can_init();
  motor_positon_init(&M3508_Motor,LOW);
  //motor_ctrl_init(&M2006_Motor,DJI_M2006);
  //motor_ctrl_init(&M6020_Motor,DJI_M6020,&hcan1,LOW);
  //motor_MIT_ctrl_init(&M6020_Motor,DJI_M6020,&hcan1,LOW);
  dbus_init(&huart3,&hdma_usart3_rx);
  bsp_tim_init();
  
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

    float a[5];
	a[0]=M3508_Motor.motor_3508_position[0].this_position;
	a[1]=M3508_Motor.RM_CAN.motor_data[0].speed;
	a[2]=Small_cake.Robot_in_self.velocity_exp.Vw-M3508_Motor.RM_CAN.motor_data[0].speed;
    //a[2]=M6020_Motor.RM_CAN.motor_data[0].speed;
	//a[3]=t;
	HAL_UART_Transmit(&huart6,(uint8_t*)a,sizeof(float)*4,1000);
	
	uint8_t tail[4]= {0x00,0x00,0x80,0x7f};
	HAL_UART_Transmit(&huart6,tail,4,1000);
	HAL_Delay(50);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
